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A simple learning strategy for high-speed quadrocopter multi-flips
Open accessAbstract
We describe a simple and intuitive policy gradient method for improving parametrized quadrocopter multi-flips by combining iterative experiments with information from a first-principles model. We start by formulating an N-flip maneuver as a five-step primitive with five adjustable parameters. Optimization using a low-order first-principles 2D vertical plane model of the quadrocopter yields an initial set of parameters and a corrective matrix. The maneuver is then repeatedly performed with the vehicle. At each iteration the state error at the end of the primitive is used to update the maneuver parameters via a gradient adjustment. The method is demonstrated at the ETH Zurich Flying Machine Arena testbed on quadrotor helicopters performing and improving on flips, double flips and triple flips.
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Citations
Cited by
Minimum snap trajectory generation and control for quadrotors
Mellinger, D., & Kumar, V. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980409 · Cited by 2,367
Camera-based navigation of a low-cost quadrocopter
Engel, J., Sturm, J., & Cremers, D. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6385458 · Cited by 349
Augugliaro, F., Schoellig, A. P., & D'Andrea, R. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6385823 · Cited by 320
Self-citationShakeri, R., Al-Garadi, M. A., Badawy, A., Mohamed, A., Khattab, T., Al-Ali, A. K., Harras, K. A., & Guizani, M. (2019) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2019.2924143 · Cited by 295
Metadata
- Authors
- Lupashin, S., Schöllig, A., Sherback, M., & D'Andrea, R.
- Venue
- 2010 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2010-05
- Pages
- 1642-1648
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W3144742656
- Cited by
- 278
- References
- 0
- FWCI
- 25.47
- Type
- conference paper
- Language
- en
- Open access
- green
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- Lupashin, S., Schöllig, A., Sherback, M., & D'Andrea, R. (2010). A simple learning strategy for high-speed quadrocopter multi-flips. 2010 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2010.5509452
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